华侨大学学报（自然科学版）2025，Vol.46Issue(1)：87-94,8.DOI:10.11830/ISSN.1000-5013.202404033
融合距离引导式A*算法与动态窗口法的移动机器人路径规划
Path Planning for Mobile Robots by Integrating Distance-Guided A*Algorithm and Dynamic Window Approach
黄昱航 1李国刚 1焦启 1曹冬平1
作者信息
- 1. 华侨大学信息科学与工程学院,福建厦门 361021||华侨大学厦门市专用集成电路系统重点实验室,福建厦门 361021
- 折叠
摘要
Abstract
To solve the problem of low efficiency in mobile robot path planning,a fusion algorithm combining a distance-guided A*algorithm with the dynamic window approach is proposed.In the improved A*algo-rithm,a bidirectional search strategy is introduced,and a comprehensive distance heuristic function is adopted,utilizing a global path filtering strategy to optimize the path.On the basis of obtaining the global optimal path,it is combined with the dynamic window approach to achieve dynamic obstacle avoidance for the mobile robot.The results show that the distance-guided A*algorithm and the proposed fusion algorithm achieve significant improvements in terms of path length,the number of traversed nodes,and running time,which better satisfies the requirements of mobile robot for path planning.关键词
移动机器人/路径规划/A*算法/动态窗口法/动态避障Key words
mobile robot/path planning/A*algorithm/dynamic window approach/dynamic obstacle avoid-ance分类
信息技术与安全科学引用本文复制引用
黄昱航,李国刚,焦启,曹冬平..融合距离引导式A*算法与动态窗口法的移动机器人路径规划[J].华侨大学学报（自然科学版）,2025,46(1):87-94,8.
